#ifndef  _CONTROL_H
#define  _CONTROL_H
#include "sys.h" 

extern int pwm;
int Vertical(float Med,float Angle);
//extern float 
//	Kp,//340*0.6
//  Ki,
//	Kd;//1.2*0.6

struct _pid
{
	float 
	Kp,//340*0.6
  Ki,
	Kd;//1.2*0.6

};

extern struct _pid pid;

#endif
